Rockwell Automation WebPak 3000 DC Drive Application Workbook Version 1.1 - Manual (Page 26)

3-16 WebPak 3000 DC Drive Application Workbook, Version 1.1
▲
Set NEG CURRENT LIMIT SEL (P.224). The choices are:
REGISTER - NEGATIVE CURRENT LIM (P.006) is used as the negative current limit.
PARALLEL OCL - Sets the limits to the value of OCL PARALLEL OUT (P.816) which
is the vernier signal of the selected outer control loop.
NETW IN REG 1, 2, 3 - Sets the limit values in network registers if a network
card is installed and the control source is NETWORK (P.000 = NETWORK ).
þ If NEG CURRENT LIMIT SEL (P.224) = REGISTER :
▲ Set NEGATIVE CURRENT LIM (P.006).
▲
Set NEG CUR LIM INV EN (P.226).
Note that the default setting for NEG CUR LIM INV EN (P.226) is ENABLED which
restricts P.005 and P.006 to positive values. The signal at the LO input of the PI
block should always be negative (-). Therefore, the setting of P.226 should be
consistent with the polarity of the negative current limit. If the negative current
limit is positive, then P.226 should be
ENABLED . If the negative current limit is
negative, then P.226 should be DISABLED .
▲
Set SPD LOOP LAG BYPASS (P.217). The choices are:
ON - The LAG block is bypassed and does not affect the speed loop forward
path signal.
OFF - The LAG block will filter the output of the speed loop PI block. The value
of the filtered signal is SPD LOOP LAG OUTPUT (P.298).
þ If SPD LOOP LAG BYPASS (P.217) = OFF :
▲ Set SPD LOOP LAG FREQ (P.215) using the following calculation:
WLG = 1.5 X ( KPS X LIMBAR X BASE SPEED / JBAR X GEAR IN SPEED ) RAD / S
Where:
•
KPS = SPD LOOP PI PROP GAIN (P.211)
•
LIMBAR = MAXIMUM CURRENT (P.007) / 100
•
BASE SPEED = BASE SPEED (P.017)
•
JBAR = SYSTEM INERTIA (P.222)
•
GEAR IN SPEED = GEAR IN SPEED (P.011)
Note: The results of speed loop self-tuning should yield a value for
JBAR , or it can be calculated as:
JBAR (seconds) = Total Inertia (lb-ft
2
) x Motor Base Speed (RPM)
308 x Motor Full Load Torque (lb-ft)
Range: REGISTER , PARALLEL OCL , NETW IN REG 1, 2, 3 P.224 =
Range: 0 to P.007 or -P.007 to 0 P.006 = % FLA
Range: DISABLED , ENABLED P.226 =
Range: ON , OFF P.217 =
Range: 0.01 to 69.81 RAD / S P.215 = RAD / S